EP1813511B1 - Electric power steering apparatus equipped with steering angle sensor - Google Patents

Electric power steering apparatus equipped with steering angle sensor Download PDF

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Publication number
EP1813511B1
EP1813511B1 EP06251851A EP06251851A EP1813511B1 EP 1813511 B1 EP1813511 B1 EP 1813511B1 EP 06251851 A EP06251851 A EP 06251851A EP 06251851 A EP06251851 A EP 06251851A EP 1813511 B1 EP1813511 B1 EP 1813511B1
Authority
EP
European Patent Office
Prior art keywords
steering
shaft
motor
sensor
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP06251851A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1813511A1 (en
Inventor
Jung-rak 244-301 Sibeom Hanbit Kumho Eoullim Apt. 82 Banggyo-ri Choi
Jun-gyu 1102-504 Mujigaemaeul Song
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HL Mando Corp
Original Assignee
Mando Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mando Corp filed Critical Mando Corp
Publication of EP1813511A1 publication Critical patent/EP1813511A1/en
Application granted granted Critical
Publication of EP1813511B1 publication Critical patent/EP1813511B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D39/00—Filtering material for liquid or gaseous fluids
    • B01D39/14—Other self-supporting filtering material ; Other filtering material
    • B01D39/16—Other self-supporting filtering material ; Other filtering material of organic material, e.g. synthetic fibres
    • B01D39/1607—Other self-supporting filtering material ; Other filtering material of organic material, e.g. synthetic fibres the material being fibrous
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/341—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells controlling the movement of a following part
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
    • B01D46/0084—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours provided with safety means
    • B01D46/0097—Special means for preventing bypass around the filter, i.e. in addition to usual seals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
    • B01D46/42—Auxiliary equipment or operation thereof
    • B01D46/4236—Reducing noise or vibration emissions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/3473—Circular or rotary encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/36—Forming the light into pulses
    • G01D5/363—Direction discrimination

Definitions

  • the present invention relates to an electric power steering apparatus equipped with a steering angle sensor.
  • Embodiments of the present invention relate to an electric power steering apparatus equipped with a steering angle sensor adapted to sense an absolute steering angle using a direction sensor for sensing the rotational direction of a steering shaft and a motor position sensor for sensing the rotational position of a motor shaft.
  • power steering apparatuses for automobiles include a hydraulic power steering apparatus utilizing hydraulic pressure of a hydraulic pump and an electric power steering apparatus utilizing an electric motor, use of which has been gradually universalized since the 1990's.
  • the hydraulic pump which is a power source for supplying steering power
  • the hydraulic pump is driven by an engine, which causes the hydraulic pump to continuously consume energy regardless of whether or not the steering wheel is being rotated.
  • the electric power steering apparatus when steering torque is generated by rotation of the steering wheel, the motor supplies steering power in proportion to the generated steering torque. Therefore, the electric power steering apparatus has higher energy efficiency than that of the hydraulic power steering apparatus.
  • a conventional electric power steering apparatus includes a steering system 100, which includes elements leading from a steering wheel 101 to both wheels 108, and a steering power mechanism 120 for supplying steering power to the steering system 100.
  • the steering system 100 includes a steering shaft 102 having an upper end connected to the steering wheel 101 and a lower end connected to a pinion shaft 104 via a pair of universal joints 103, so that the steering shaft 102 rotates together with the steering wheel 101.
  • the pinion shaft 104 is connected to a rack bar 109 via a rack-pinion mechanism 105. Both ends of the rack bar 109 are connected to the wheels 108 of the automobile via tie rods 106 and knuckle arms 107.
  • the rack-pinion mechanism 105 includes a pinion gear 111 formed on the lower end of the pinion shaft 104 and a rack gear 112 formed on one side of the outer peripheral surface of the rack bar 109 to engage with the pinion gear 111.
  • the rack-pinion mechanism 105 converts the rotational motion of the pinion shaft 104 into a linear motion of the rack bar 109. Particularly, when the driver operates the steering wheel 101, the pinion shaft 104 rotates accordingly. The rotation of the pinion shaft 104 causes the rack bar 109 to move linearly in the shaft direction. The linear motion of the rack bar 109 is transmitted to and thereby operates the wheels 108 via the tie rods 106 and the knuckle arms 107.
  • the steering power mechanism 120 includes a torque sensor 121 for sensing steering torque applied to the steering wheel 101 by the driver and outputting an electric signal in proportion to the sensed steering torque, an ECU (Electronic Control Unit) 123 for generating a control signal based on the electric signal from the torque sensor 121, and a motor 130 for generating steering power based on the control signal from the ECU 123.
  • a torque sensor 121 for sensing steering torque applied to the steering wheel 101 by the driver and outputting an electric signal in proportion to the sensed steering torque
  • an ECU (Electronic Control Unit) 123 for generating a control signal based on the electric signal from the torque sensor 121
  • a motor 130 for generating steering power based on the control signal from the ECU 123.
  • the electric power steering apparatus is operated as follows: when the steering wheel 101 is rotated, steering torque is generated and transmitted to the rack bar 109 via the rack-pinion mechanism 105.
  • the generated steering torque causes the motor 130 to generate steering power, which is transmitted to the steering shaft 102, the pinion shaft 104, or the rack bar 109.
  • the steering torque generated by the steering system 100 is combined with the steering power generated by the motor 130, so that the rack bar 109 is moved in the shaft direction.
  • the electric power steering apparatus has a steering angle sensor, which provides the ECU with information on the rotational angle or rotational angular velocity of the steering wheel with reference to a position for straight advancement of the running automobile. Using this information, the ECU controls the roll or yaw of the automobile.
  • a steering angle sensor 200 which uses an optical sensor and a slit disc, obtains steering information and transmits the information to the ECU 123, which then calculates the steering angle and steering angular velocity.
  • the conventional steering angle sensor 200 includes an optical sensor 301 and a slit disc 303.
  • a column switch which includes the optical sensor 301, is fixed to a steering column, and the slit disc 303 is positioned on the steering shaft 102 so that the slit disc 303 rotates together when the steering wheel is rotated.
  • the slit disc 303 which is positioned between a light emitting element 401 and a light receiving element 403 of the optical sensor 301, rotates together with the steering shaft 102 when the steering wheel is operated.
  • the properties of electrical signals are determined according to whether or not light from the light emitting element 401 reaches the light receiving element 403.
  • the voltage of the electric signal changes according to whether or not light from the light emitting element reaches the light receiving element.
  • the electric signal reflecting such a change is transmitted to the ECU, it can measure the steering angle.
  • JP-A-2000203443 discloses an electric power steering apparatus comprising a steering shaft arranged to be connected to a steering wheel of an automobile, a reduction shaft adapted to engage with the steering shaft and to rotate, a direction sensor, a rotation member formed on a range of the reduction shaft, a motor for supplying steering power, a motor position sensor positioned on the motor to sense a rotational angle of a motor shaft and an electric control unit adapted to receive electric signals from the direction sensor and the motor position sensor, respectively, and to calculate a steering angle.
  • the conventional steering angle sensor has a problem in that it recognizes a steering angle of zero and that of ⁇ 360° (or ⁇ 720°) as the same angle. In other words, it cannot distinguish a left turn from a right turn.
  • an embodiment of an electric power steering apparatus includes a steering shaft 102 connected to a steering wheel (not shown); a reduction shaft 601 adapted to engage with the steering shaft 102 and rotate; a direction sensor 607 having a transmitter 603 and a receiver 605; a rotation member 609 formed on an end of the reduction shaft 601; a motor 130 for supplying steering power; a motor position sensor 613 for sensing the rotational angle of a motor shaft 611; and an ECU 123 adapted to receive electric signals from the direction sensor 607 and the motor position sensor 613, respectively.
  • the steering shaft 102 is adapted to rotate when the driver rotates a steering wheel (not shown) and has a worm 615 formed on the outer peripheral surface thereof.
  • the reduction shaft 601 has a worm wheel 617 formed on the outer peripheral surface thereof, which engages with the worm 615.
  • the steering shaft 104 is configured to rotate 3-4 times as the driver operates the steering wheel (not shown).
  • the reduction shaft 601 is configured to rotate once at most, when the steering shaft 102 rotates 3-4 times, so that the calculated steering angle is no more than 360°.
  • the direction sensor 607 includes a transmitter 603, a receiver 605, and a circuit board 606.
  • the transmitter 603 and the receiver 605 face each other so that signals (e.g. electric, magnetic, or optical signals) are transmitted from the transmitter 603 to the receiver 605.
  • the rotation member 609 is adapted to rotate between the transmitter 603 and the receiver 605 so that the signals from the transmitter 603 are interrupted or allowed to pass.
  • the direction sensor 607 is operated in this manner.
  • the direction sensor 607 may be an optical sensor including a light emitting element 401 and a light receiving element 403.
  • the light emitting element 401 may be an LED (Light Emitting Diode), and the light receiving element 403 may be a phototransistor, but the type is not limited to that herein.
  • the circuit board 606 is connected to the transmitter 603 and the receiver 605, respectively, and supplies the transmitter 603 with power.
  • the circuit board 606 forwards a predetermined electric signal, which is generated when the receiver 605 receives or fails to receive signals from the transmitter 603, to the ECU 123.
  • a PCB Printed Circuit Board
  • the type is not limited to that herein.
  • the rotation member 609 is coupled to an end of the reduction shaft 601 so that the rotation member 609 rotates while being interlocked with the reduction shaft 601.
  • the rotation member 609 which is positioned between the transmitter 603 and the receiver 605, includes a body 610 and a coupler 612.
  • the body 610 which may have a planar shape, is adapted to rotate between the transmitter 603 and receiver 605 of the direction sensor 607, in order to interrupt signals from the transmitter 603 or allow them to pass.
  • the body 610 When an optical sensor is used as the direction sensor 607, the body 610 must be made of an opaque material.
  • the range of rotation of the reduction shaft 601 is limited to 180° in a clockwise or counterclockwise direction, the body 610 has a sectional shape of a semicircle or sector.
  • the coupler 612 protrudes from one side of the body 610 and couples the rotation member 609 to the reduction shaft 601.
  • the coupler 612 must be completely fixed to the reduction shaft 612, because the rotation member 609 is supposed to rotate while being interlocked with the reduction shaft 601.
  • the rotation member 609 may be integrally formed with the reduction shaft 601 without using a separate coupler 612.
  • the motor position sensor 613 is positioned on one side of the motor 130 and senses the rotational angle of the motor shaft 611.
  • the motor position sensor 613 senses the rotational angle of the motor shaft 611 and periodically generates pulses, which are transmitted to the ECU 123.
  • the ECU 123 receives electrical signals, which have been converted from various type of information related to the automobile (e.g. speed, steering torque, and motor shaft position) by various sensors mounted on the automobile (e.g. speed sensor, torque sensor, and motor position sensor), and controls the motor.
  • various sensors mounted on the automobile e.g. speed sensor, torque sensor, and motor position sensor
  • the ECU 123 receives electric signals from the direction sensor 607, which senses the rotational direction of the steering shaft 102, and information on the amount of change in the rotational angle of the motor shaft 611 from the motor position sensor 613, in order to calculate a steering angle.
  • the rotation member 609 which has been slightly rotated counterclockwise from the neutral position A-A' accordingly, is positioned between the light emitting element 401 and the light receiving element 403 and interrupts light from the light emitting element 401.
  • the rotation member 609 rotates counterclockwise accordingly.
  • light from the light emitting element 401 is still interrupted by the rotation member 609, even when the reduction member 609 reaches the final position B-B', and fails to be transmitted to the light receiving element 403.
  • the direction sensor transfers a constant electric signal to the ECU.
  • Such a condition occurs when the driver operates the steering wheel for a left turn, for example, and the ECU recognizes that the steering wheel of the automobile is currently rotated left.
  • the motor position sensor periodically sends electric signals to the ECU, when the motor shaft rotates, and informs the ECU of the rotation angle of the motor shaft.
  • the electric power steering apparatus is equipped with a steering angle sensor adapted to sense an absolute steering angle using a direction sensor for sensing the rotational direction of the steering shaft and a motor position sensor for sensing the rotational position of the motor shaft. This reduces the manufacturing cost of the steering apparatus.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Power Steering Mechanism (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Steering Devices For Bicycles And Motorcycles (AREA)
EP06251851A 2006-01-26 2006-03-31 Electric power steering apparatus equipped with steering angle sensor Not-in-force EP1813511B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020060008466A KR100816386B1 (ko) 2006-01-26 2006-01-26 조향각 센서를 구비한 전동식 조향장치

Publications (2)

Publication Number Publication Date
EP1813511A1 EP1813511A1 (en) 2007-08-01
EP1813511B1 true EP1813511B1 (en) 2010-03-24

Family

ID=36889296

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06251851A Not-in-force EP1813511B1 (en) 2006-01-26 2006-03-31 Electric power steering apparatus equipped with steering angle sensor

Country Status (7)

Country Link
US (1) US7584818B2 (zh)
EP (1) EP1813511B1 (zh)
JP (1) JP2007196979A (zh)
KR (1) KR100816386B1 (zh)
CN (1) CN100486850C (zh)
AT (1) ATE461854T1 (zh)
DE (1) DE602006013091D1 (zh)

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KR20050100201A (ko) * 2004-04-13 2005-10-18 현대모비스 주식회사 조향각 검출장치

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ATE461854T1 (de) 2010-04-15
CN100486850C (zh) 2009-05-13
KR20070078303A (ko) 2007-07-31
CN101007545A (zh) 2007-08-01
DE602006013091D1 (de) 2010-05-06
US20070169986A1 (en) 2007-07-26
JP2007196979A (ja) 2007-08-09
KR100816386B1 (ko) 2008-03-26
EP1813511A1 (en) 2007-08-01
US7584818B2 (en) 2009-09-08

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